@InProceedings{ brockett94estimating,
  author = 	 {Brockett, R. and Blake, A.},
  title = 	 {Estimating the shape of a moving contour},
  booktitle = 	 {Proc. 33rd IEEE Conf. Dec. and Control},
  pages = 	 {3247--3252},
  year = 	 {1994},
  volume = 	 {4},
  address =      {Lake Buena Vista, FL}
}